CN-121973761-A - Control method and device of vehicle chassis, electronic equipment and storage medium

CN121973761ACN 121973761 ACN121973761 ACN 121973761ACN-121973761-A

Abstract

The application discloses a control method and device of a vehicle chassis, electronic equipment and a storage medium, and relates to the technical field of vehicle detection. The control method comprises the steps of determining whether to start chassis trigger control of the vehicle or not based on a first comparison result of rack travel data and a preset rack travel threshold value and a second comparison result of wheel jump travel data and a preset wheel jump travel threshold value, and if yes, adjusting target wheel jump travel of wheels and/or target rack travel of a steering gear rack based on a corresponding control instruction under the trigger control so as to control the chassis of the vehicle. According to the application, through adjusting the target wheel jump travel of the wheels and/or the target rack travel of the steering gear rack, the included angle between the axis of the driving shaft of the automobile and the axis of the wheels can be reduced, the stability of the whole automobile under the limit working condition is increased, the probability of damaging the wheels and the driving shaft is further reduced, the safety performance is further improved, and the vehicle rollover risk is reduced.

Inventors

ZHAO ZHIJIE
WU YOUYI
JIN SHUAI
HAN QUANWU
LI BOCHAO

Assignees

北京汽车研究总院有限公司

Dates

Publication Date: 20260505
Application Date: 20260120

Claims (10)

1. A control method of a vehicle chassis, characterized by comprising: Acquiring wheel jump travel data of wheels and rack travel data of a steering gear rack in the running process of a vehicle; determining whether to start chassis trigger control of the vehicle based on a first comparison result of the rack travel data and a preset rack travel threshold and a second comparison result of the wheel jump travel data and a preset wheel jump travel threshold; If so, adjusting the target wheel jump travel of the wheels and/or the target rack travel of the steering gear rack based on the corresponding control instruction under the trigger control so as to realize the control of the vehicle chassis.
2. The control method of a vehicle chassis according to claim 1, wherein the trigger control includes a first trigger control and a second trigger control, the determining whether to turn on the chassis trigger control for the vehicle based on a first comparison result of the rack stroke data and a preset rack stroke threshold value, and a second comparison result of the wheel jump stroke data and a preset wheel jump stroke threshold value, includes: if the rack stroke value in the rack stroke data is greater than or equal to the preset rack stroke threshold value, determining to start a first chassis trigger control on the vehicle, wherein the first chassis trigger control is used for representing control for triggering a stabilizer bar to limit a wheel jump stroke value; And if the wheel jump travel value in the wheel jump travel data is greater than or equal to the preset wheel jump travel threshold value, determining to start a second chassis trigger control for the vehicle, wherein the second chassis trigger control is used for representing control for triggering a steering gear to limit the rack travel value.
3. The control method of a vehicle chassis according to claim 2, wherein the control command corresponding to the first chassis trigger control includes a first control command, the control command corresponding to the second chassis trigger control includes a second control command, and the adjusting the target wheel jump stroke of the wheel and/or the target rack stroke of the steering rack based on the control command corresponding to the trigger control includes: Adjusting a wheel jump travel value in the wheel jump travel data to be below the preset wheel jump travel threshold value based on a first control instruction corresponding to the first chassis trigger control, and determining the adjusted wheel jump travel value as a target wheel jump travel, wherein the first control instruction is used for limiting the wheel jump travel value by controlling a stabilizer bar, and/or; and adjusting the rack stroke value in the rack stroke data to be below the preset rack stroke threshold value based on a second control instruction corresponding to the second chassis trigger control, and determining the adjusted rack stroke value as a target rack stroke, wherein the second control instruction is used for limiting the rack stroke value by controlling a steering gear.
4. The method according to claim 3, wherein the adjusting the wheel hop travel value in the wheel hop travel data to be less than the preset wheel hop travel threshold value based on the first control command corresponding to the first chassis trigger control includes: And based on a first control instruction corresponding to the first chassis trigger control, sending a torque limiting signal to a stabilizer bar controller through a whole vehicle controller so as to control the stabilizer bar to output a restraining torque and adjusting a wheel jump travel value in the wheel jump travel data to be below a preset wheel jump travel threshold.
5. The control method of the vehicle chassis according to claim 3, wherein the adjusting the rack stroke value in the rack stroke data to be below the preset rack stroke threshold value based on the second control instruction corresponding to the second chassis trigger control includes: and based on a second control instruction corresponding to the second chassis trigger control, sending a travel limit signal to an electric power steering controller through a whole vehicle controller so as to control the steering device to output a compensating steering force and adjust the rack travel value in the rack travel data to be lower than the preset rack travel threshold.
6. The control method of a vehicle chassis according to claim 1, characterized in that the control method of a vehicle chassis further comprises: and dynamically adjusting the preset rack travel threshold and the preset wheel jump travel threshold based on the running state data of the vehicle, wherein the running state data comprises at least one of a vehicle speed, a steering angle change rate and a wheel jump frequency.
7. The method for controlling a vehicle chassis according to claim 1, wherein the acquiring wheel-jump travel data of wheels and rack travel data of a steering gear rack during traveling of the vehicle includes: acquiring initial rack travel data of a steering gear rack acquired by an electric power steering controller during running of a vehicle; Acquiring initial wheel jump travel data of wheels acquired by a stabilizer bar controller during running of a vehicle; and filtering the initial rack travel data and the initial wheel jump travel data to determine the wheel jump travel data of the wheels and the rack travel data of the steering gear rack in the running process of the vehicle.
8. A control device of a vehicle chassis, characterized by comprising: the acquisition module is used for acquiring wheel jump travel data of wheels and rack travel data of a steering gear rack in the running process of the vehicle; The determining module is used for determining whether to start chassis trigger control of the vehicle or not based on a first comparison result of the rack travel data and a preset rack travel threshold value and a second comparison result of the wheel jump travel data and a preset wheel jump travel threshold value; And the adjusting module is used for adjusting the target wheel jump stroke of the wheels and/or the target rack stroke of the steering gear rack based on the corresponding control instruction under the trigger control if so to realize the control of the vehicle chassis.
9. An electronic device comprising a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the electronic device is in operation, the machine-readable instructions being executable by the processor to perform the steps of the method of controlling a vehicle chassis as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, performs the steps of the method of controlling a vehicle chassis according to any of the preceding claims 1-7.

Description

Control method and device of vehicle chassis, electronic equipment and storage medium Technical Field The present application relates to the field of vehicle detection technologies, and in particular, to a method and apparatus for controlling a vehicle chassis, an electronic device, and a storage medium. Background At present, an automobile power assembly transmits the power of an automobile to wheels through a driving shaft, and under different load working conditions of the automobile, the included angle between the axis of the driving shaft of the automobile and the axis of the wheels and the gaps between the wheels, longitudinal beams and peripheral parts are changed. However, after the wheel jump stroke of the wheel and the rack stroke of the steering gear rack are increased, the included angle between the axis of the driving shaft of the automobile and the axis of the wheel is increased, the gap between the wheel and the longitudinal beam and the peripheral parts is reduced, the gap between the tire and the wheel arch is reduced, the wheel and the driving shaft collide with other parts on the automobile, the wheel and the driving shaft are damaged, the vehicle is overturned, and the risk of rollover is caused. Disclosure of Invention The embodiment of the application provides a control method, a device, electronic equipment and a storage medium of a vehicle chassis, solves the technical problems that in the prior art, wheels and a driving shaft are mutually collided with other parts on an automobile, so that the wheels and the driving shaft are damaged, the automobile is overturned and the risk of turning over is caused, and can reduce the included angle between the axis of the driving shaft of the automobile and the axis of the wheels, increase the stability of the whole automobile under the limit working condition, further reduce the damage probability of the wheels and the driving shaft, further improve the safety performance and reduce the risk of turning over of the automobile by adjusting the target wheel jump stroke of the wheels and/or the target rack stroke of a steering gear rack. In a first aspect of the embodiment of the present application, the embodiment of the present application provides a method for controlling a vehicle chassis, where the method for controlling a vehicle chassis includes: Acquiring wheel jump travel data of wheels and rack travel data of a steering gear rack in the running process of a vehicle; determining whether to start chassis trigger control of the vehicle based on a first comparison result of the rack travel data and a preset rack travel threshold and a second comparison result of the wheel jump travel data and a preset wheel jump travel threshold; If so, adjusting the target wheel jump travel of the wheels and/or the target rack travel of the steering gear rack based on the corresponding control instruction under the trigger control so as to realize the control of the vehicle chassis. In a possible embodiment, the triggering control includes a first triggering control and a second triggering control, and the determining whether to start chassis triggering control for the vehicle based on a first comparison result of the rack travel data and a preset rack travel threshold, and a second comparison result of the wheel jump travel data and a preset wheel jump travel threshold includes: if the rack stroke value in the rack stroke data is greater than or equal to the preset rack stroke threshold value, determining to start a first chassis trigger control on the vehicle, wherein the first chassis trigger control is used for representing control for triggering a stabilizer bar to limit a wheel jump stroke value; And if the wheel jump travel value in the wheel jump travel data is greater than or equal to the preset wheel jump travel threshold value, determining to start a second chassis trigger control for the vehicle, wherein the second chassis trigger control is used for representing control for triggering a steering gear to limit the rack travel value. In a possible embodiment, the control command corresponding to the first chassis trigger control includes a first control command, the control command corresponding to the second chassis trigger control includes a second control command, and the adjusting the target wheel jump travel of the wheel and/or the target rack travel of the steering rack based on the control command corresponding to the trigger control includes: Adjusting a wheel jump travel value in the wheel jump travel data to be below the preset wheel jump travel threshold value based on a first control instruction corresponding to the first chassis trigger control, and determining the adjusted wheel jump travel value as a target wheel jump travel, wherein the first control instruction is used for limiting the wheel jump travel value by controlling a stabilizer bar, and/or; and adjusting the rack stroke value in the rack stroke data to be below the preset